The torque sensor is on the pinion of the rack - look where the steering shaft connects to the rack.
First do an EPS reset the manual way of doing it is
Make sure steering is dead straight and car is on level ground
1 - jump pins 9 and 4 of the DLC to initiate the diagnosis blinking (you already know how)
2 - Turn and hold the steering wheel 45 degrees to the left of the straight ahead position.
3 - Switch on the ignition the EPS light will switch on and go off after 4 seconds
4 - As soon as the light goes out, turn the wheel straight and dont touch it - watch the EPS lamp, it will show up again for 4 seconds after you let go of the steering
5 - During the 4 seconds of the EPS light switching on turn the wheel 45 degrees to the left again and hold at this position it until the EPS light switches off again.
6 - As soon as the EPS light goes out, turn the wheel dead straight again and release it, Within 4 seconds of the EPS light going off turn the steering wheel to the straight ahead position and release the wheel.
7 - After 4 seconds the EPS light should blink twice and then should blink three times and then the EPS lamp should go out.
8 - Turn the ignition switch "Off"
9 - Disconnect the Jumper from the DLC
start and test the steering.
what you have done is zero in the torque sensor and written it to the control unit - if everything went well you wont have an EPS light.
Reasons for such failure is driving with bad alignment or worn out ball joints and control arm bushings, which forces you to hold the steering wheel while you are trying to drive straight. Torque sensors do go bad - so you may need to replace that too.
